| 1. |
- Khan, Muhammad Sikandar Lal, 1988-
(författare)
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Presence through actions : theories, concepts, and implementations
- 2017
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- During face-to-face meetings, humans use multimodal information, including verbal information, visual information, body language, facial expressions, and other non-verbal gestures. In contrast, during computer-mediated-communication (CMC), humans rely either on mono-modal information such as text-only, voice-only, or video-only or on bi-modal information by using audiovisual modalities such as video teleconferencing. Psychologically, the difference between the two lies in the level of the subjective experience of presence, where people perceive a reduced feeling of presence in the case of CMC. Despite the current advancements in CMC, it is still far from face-to-face communication, especially in terms of the experience of presence.This thesis aims to introduce new concepts, theories, and technologies for presence design where the core is actions for creating presence. Thus, the contribution of the thesis can be divided into a technical contribution and a knowledge contribution. Technically, this thesis details novel technologies for improving presence experience during mediated communication (video teleconferencing). The proposed technologies include action robots (including a telepresence mechatronic robot (TEBoT) and a face robot), embodied control techniques (head orientation modeling and virtual reality headset based collaboration), and face reconstruction/retrieval algorithms. The introduced technologies enable action possibilities and embodied interactions that improve the presence experience between the distantly located participants. The novel setups were put into real experimental scenarios, and the well-known social, spatial, and gaze related problems were analyzed.The developed technologies and the results of the experiments led to the knowledge contribution of this thesis. In terms of knowledge contribution, this thesis presents a more general theoretical conceptual framework for mediated communication technologies. This conceptual framework can guide telepresence researchers toward the development of appropriate technologies for mediated communication applications. Furthermore, this thesis also presents a novel strong concept – presence through actions - that brings in philosophical understandings for developing presence- related technologies. The strong concept - presence through actions is an intermediate-level knowledge that proposes a new way of creating and developing future 'presence artifacts'. Presence- through actions is an action-oriented phenomenological approach to presence that differs from traditional immersive presence approaches that are based (implicitly) on rationalist, internalist views.
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| 2. |
- Shafiq, ur Réhman, 1978-, et al.
(författare)
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Using Vibrotactile Language for Multimodal Human Animals Communication and Interaction
- 2014
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Ingår i: Proceedings of the 2014 Workshops on Advances in Computer Entertainment Conference, ACE '14. - New York, NY, USA : Association for Computing Machinery (ACM). - 9781450333146 ; , s. 1:1-1:5
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Konferensbidrag (refereegranskat)abstract
- In this work we aim to facilitate computer mediated multimodal communication and interaction between human and animal based on vibrotactile stimuli. To study and influence the behavior of animals, usually researchers use 2D/3D visual stimuli. However we use vibrotactile pattern based language which provides the opportunity to communicate and interact with animals. We have performed experiment with a vibrotactile based human-animal multimodal communication system to study the effectiveness of vibratory stimuli applied to the animal skin along with audio and visual stimuli. The preliminary results are encouraging and indicate that low-resolution tactual displays are effective in transmitting information.
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| 3. |
- Ortiz Morales, Daniel, 1984-, et al.
(författare)
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Path-constrained motion analysis : an algorithm to understand human performance on hydraulic manipulators
- 2015
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Ingår i: IEEE Transactions on Human-Machine Systems. - 2168-2291. ; 45:2, s. 187-199
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Tidskriftsartikel (refereegranskat)abstract
- We propose a novel method to analyze how human operators use hydraulic manipulators of heavy-duty equipment. The approach is novel in the sense that it applies knowledge of motion planning and optimization techniques used in robotics. As an example, we consider the case of operating a forestry crane. To that end, we use motion data that has been recorded during standard operation with the help of sensors and a data acquisition unit. The data backs up the notion that operators work by performing repeatable patterns observed in the trajectories of the manipulator's joints. We show how this nominal behavior is computed, and consequently this allow us to present the following: 1) an analytical procedure to analyze motions, 2) how to represent the "performance" of the operator in a 2D plot, 3) an example of how to use this information to suggest customized control settings, and 4) some complementary ideas needed for improving efficiency through automation.
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| 4. |
- Khan, Muhammad Sikandar Lal, 1988-, et al.
(författare)
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Face-off : A face reconstruction technique for virtual reality (VR) scenarios
- 2016
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Ingår i: 14th European Conference on Computer Vision, ECCV 2016. - Cham : Springer. - 9783319466033 - 9783319466040 ; , s. 490-503
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Konferensbidrag (refereegranskat)abstract
- Virtual Reality (VR) headsets occlude a significant portion of human face. The real human face is required in many VR applications, for example, video teleconferencing. This paper proposes a wearable camera setup-based solution to reconstruct the real face of a person wearing VR headset. Our solution lies in the core of asymmetrical principal component analysis (aPCA). A user-specific training model is built using aPCA with full face, lips and eye region information. During testing phase, lower face region and partial eye information is used to reconstruct the wearer face. Online testing session consists of two phases, (i) calibration phase and (ii) reconstruction phase. In former, a small calibration step is performed to align test information with training data, while the later uses half face information to reconstruct the full face using aPCAbased trained-data. The proposed approach is validated with qualitative and quantitative analysis.
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| 5. |
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| 6. |
- Ortiz Morales, Daniel, 1984-, et al.
(författare)
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Generating Periodic Motions for the Butterfly Robot
- 2013
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Ingår i: Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on. - : IEEE conference proceedings. - 2153-0858. - 9781467363587 ; , s. 2527-2532
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Konferensbidrag (refereegranskat)abstract
- We analyze the problem of dynamic non-prehensile manipulation by considering the example of thebutterfly robot. Our main objective is to study the problem of stabilizing periodic motions, which resemble some form of juggling acrobatics. To this end, we approach the problem by considering theframework of virtual holonomic constraints. Under this basis, we provide an analytical and systematic solution to the problems of trajectory planning and design of feedback controllers to guarantee orbital exponential stability. Results are presented in the form of simulation tests.
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| 7. |
- Rezk, Nesma, 1987-, et al.
(författare)
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MOHAQ : Multi-Objective Hardware-Aware Quantization of recurrent neural networks
- 2022
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Ingår i: Journal of systems architecture. - Amsterdam : Elsevier BV. - 1383-7621 .- 1873-6165. ; 133
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Tidskriftsartikel (refereegranskat)abstract
- The compression of deep learning models is of fundamental importance in deploying such models to edge devices. The selection of compression parameters can be automated to meet changes in the hardware platform and application. This article introduces a Multi-Objective Hardware-Aware Quantization (MOHAQ) method, which considers hardware performance and inference error as objectives for mixed-precision quantization. The proposed method feasibly evaluates candidate solutions in a large search space by relying on two steps. First, post-training quantization is applied for fast solution evaluation (inference-only search). Second, we propose the "beacon-based search" to retrain selected solutions only and use them as beacons to estimate the effect of retraining on other solutions. We use speech recognition models on TIMIT dataset. Experimental evaluations show that Simple Recurrent Unit (SRU)-based models can be compressed up to 8x by post-training quantization without any significant error increase. On SiLago, we found solutions that achieve 97% and 86% of the maximum possible speedup and energy saving, with a minor increase in error on an SRU-based model. On Bitfusion, the beacon-based search reduced the error gain of the inference-only search on SRU-based models and Light Gated Recurrent Unit (LiGRU)-based model by up to 4.9 and 3.9 percentage points, respectively.
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| 8. |
- ur Réhman, Shafiq, 1978-, et al.
(författare)
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Vibrotactile TV for immersive experience
- 2014
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Ingår i: Signal and Information Processing Association Annual Summit and Conference (APSIPA), 2014 Asia-Pacific. - : IEEE conference proceedings. - 9786163618238
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Konferensbidrag (refereegranskat)abstract
- Audio and video are two powerful media forms to shorten the distance between audience/viewer and actors or players in the TV and films. The recent research shows that today people are using more and more multimedia contents on mobile devices, such as tablets and smartphones. Therefore, an important question emerges - how can we render high-quality, personal immersive experiences to consumers on these systems? To give audience an immersive engagement that differs from `watching a play', we have designed a study to render complete immersive media which include the `emotional information' based on augmented vibrotactile-coding on the back of the user along with audio-video signal. The reported emotional responses to videos viewed with and without haptic enhancement, show that participants exhibited an increased emotional response to media with haptic enhancement. Overall, these studies suggest that the effectiveness of our approach and using a multisensory approach increase immersion and user satisfaction.
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| 9. |
- Freidovich, Leonid, et al.
(författare)
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Modification via averaging of partial-energy-shaping control for orbital stabilization : cart-pendulum example
- 2006
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Ingår i: Proceedings of the 45th IEEE conference on decision and control, vols 1-14. - New York : IEEE Press. - 9781424401703 ; , s. 6150-6155
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Konferensbidrag (refereegranskat)abstract
- We consider the problem of creating oscillations with respect to a part of state variables in underactuated mechanical systems. The main contribution is a modification of a recently proposed control strategy, exploiting passivity to shape the energy of the system with respect to a subset of the state variables and neglecting the dynamics of the other ones. We propose a way to design an additional control action, which guarantees boundedness of the motion of these other degrees of freedom, which otherwise almost always evolve without any bound. The idea is presented on the well-known two-degrees-of-freedom benchmark example of inverted pendulum on a cart.
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| 10. |
- Shiriaev, Anton, et al.
(författare)
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Constructive tool for orbital stabilization of underactuated nonlinear systems : virtual constraints approach
- 2005
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Ingår i: IEEE Transactions on Automatic Control. - Piscataway : IEEE Press. - 0018-9286 .- 1558-2523. ; 50:8, s. 1164-1176
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Tidskriftsartikel (refereegranskat)abstract
- We present a constructive tool for generation and orbital stabilization of periodic solutions for underactuated nonlinear systems. Our method can be applied to any mechanical system with a number of independent actuators smaller than the number of degrees of freedom by one. The synthesized feedback control law is nonlinear and time-dependent. It is derived from a feedback structure that explicitly uses the general or full integral of the systems zero dynamics. The control law generates a periodic solution and makes it exponentially orbitally stable.
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